一种虚拟手术二维力觉交互装置的力学模型  

A Dynamic Model of Haptic Device for Virtual Surgery

作　　者：杨扬[1] 赖芸[2] 宋亚冲[1] 谢叻[1] 

机构地区：[1]上海交通大学国家数字化制造技术中心,上海200030 [2]上海交通大学实验室与设备处,上海200240

出　　处：《计算机仿真》2010年第2期251-254,共4页Computer Simulation

基　　金：国家"863"项目资助(2006AA01Z310);国家自然科学基金项目资助(60873131);上海交通大学"医工(理)交叉研究基金"项目(YG2007MS34)

摘　　要：对力交互装置在虚拟手术中有着广泛的应用,作为基础研究,提出一种二维力觉交互装置的反馈力模型,通过模拟虚拟器械与肌肉组织和骨骼碰撞时的受力情况,验证模型的合理性。首先,根据人体组织的生物力学性能,参照Karnopp模型和胡克定律提出了系统的反馈力模型;然后针对系统的性能指标,通过对肌肉和骨骼两种组织的碰撞实验,验证了设备在虚拟手术过程中反馈力实现效果。仿真结果显示,反馈力方法能较准确地仿真力的变化,准确地感知骨骼的位置,对于虚拟手术系统的实用性具有重要意义。Haptic device is comprehensively applied in virtual surgery. As the basic research, a 2D model of force feedback has been presented. The model＇s rationality is validated by simulating the instrument collides with muscle and bone. Firstly, according to the physical properties of structure, the force feedback model is presented referring to Karnopp model and Hooke＇s Law, then the performance of the force feedback is validated by the result of experience of collapse in allusion to the system＇ target. The result which has been handled shows that this scheme can simulate the force changing and apperceive the bone＇s position precisely and have a important meaning to the practicability.

关 键 词：力反馈 力觉交互装置 虚拟手术 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]